Goodwill and Intangible Assets - Schedule of intangible assets subject to amortization (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Oct. 02, 2021	Sep. 26, 2020	Oct. 02, 2021	Sep. 26, 2020	Dec. 31, 2020
Finite-lived Intangible Assets [Roll Forward]
Intangible assets subject to amortization, beginning balance			$ 980,310
Intangible assets acquired during the period			16,197
Currency translation during the period			(43,542)
Intangible assets subject to amortization, ending balance	$ 952,965		952,965
Accumulated amortization, beginning balance			755,971
Amortization during the period	7,247	$ 7,327	22,081	$ 21,183
Currency translation during the period			(34,166)
Accumulated amortization, ending balance	743,886		743,886
Intangible assets subject to amortization, net as of October 2, 2021	209,079		209,079		$ 224,339
Customer relationships
Finite-lived Intangible Assets [Roll Forward]
Intangible assets subject to amortization, beginning balance			699,795
Intangible assets acquired during the period			11,569
Currency translation during the period			(27,584)
Intangible assets subject to amortization, ending balance	683,780		683,780
Accumulated amortization, beginning balance			481,256
Amortization during the period			20,870
Currency translation during the period			(18,403)
Accumulated amortization, ending balance	483,723		483,723
Intangible assets subject to amortization, net as of October 2, 2021	200,057		200,057
Patents
Finite-lived Intangible Assets [Roll Forward]
Intangible assets subject to amortization, beginning balance			273,570
Intangible assets acquired during the period			4,628
Currency translation during the period			(15,846)
Intangible assets subject to amortization, ending balance	262,352		262,352
Accumulated amortization, beginning balance			273,426
Amortization during the period			475
Currency translation during the period			(15,729)
Accumulated amortization, ending balance	258,172		258,172
Intangible assets subject to amortization, net as of October 2, 2021	4,180		4,180
Other
Finite-lived Intangible Assets [Roll Forward]
Intangible assets subject to amortization, beginning balance			6,945
Intangible assets acquired during the period			0
Currency translation during the period			(112)
Intangible assets subject to amortization, ending balance	6,833		6,833
Accumulated amortization, beginning balance			1,289
Amortization during the period			736
Currency translation during the period			(34)
Accumulated amortization, ending balance	1,991		1,991
Intangible assets subject to amortization, net as of October 2, 2021	$ 4,842		$ 4,842